cmake_minimum_required(VERSION 3.5)
project(imu_type)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(PCL REQUIRED)

include_directories(
  ${PCL_INCLUDE_DIRS} 
  include
  
)

link_directories(
  ${PCL_LIBRARY_DIRS}
  lib/${CMAKE_SYSTEM_PROCESSOR}
)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

add_executable(cloud_imu_node src/cloud_imu_node.cpp)
target_include_directories(cloud_imu_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)



  target_link_libraries( cloud_imu_node
  ${Boost_SYSTEM_LIBRARY}
  ${PCL_LIBRARIES}
  libunitree_lidar_sdk.a
)

ament_target_dependencies(
  cloud_imu_node
  rclcpp std_msgs 
  sensor_msgs
  pcl_conversions
)
install(TARGETS 
  cloud_imu_node
  DESTINATION lib/${PROJECT_NAME})


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
